Paste dispensing transfer system and method for a stencil printer

ABSTRACT

A paste dispensing transfer system of a stencil printer is configured to print an assembly material on an electronic substrate. The transfer system includes a paste cartridge mechanism coupled to a print head assembly of the stencil printer, and a rotary indexing mechanism coupled to a frame of the stencil printer. The paste dispensing transfer system is configured to transfer a used paste cartridge from the print head assembly to the rotary indexing mechanism supported by the frame and to transfer a new paste cartridge from the rotary indexing mechanism to the print head assembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit under 35 U.S.C. § 119(e) ofco-pending U.S. Provisional Patent Application No. 62/931,496 titledMULTI-FUNCTIONAL PRINT HEAD FOR A STENCIL PRINTER filed on Nov. 6, 2019,and to U.S. Provisional Patent Application No. 62/861,025 titled METHODAND SYSTEM FOR AUTOMATED CHANGEOVER AND REPLACEMENT WITHIN A STENCILPRINTER filed on Jun. 13, 2019, which are incorporated herein byreference in their entirety for all purposes.

BACKGROUND OF THE DISCLOSURE 1. Field of Invention

This application relates generally to stencil printers and relatedmethods to print viscous materials, e.g., solder paste, on an electronicsubstrate, e.g., a printed circuit board (PCB), and more particularly tosystems and methods for fully automating such stencil printers andmethods.

2. Discussion of Related Art

In manufacturing a surface-mount printed circuit board, a stencilprinter can be used to print solder paste onto the circuit board.Typically, a circuit board having a pattern of pads or some otherconductive surface onto which solder paste will be deposited isautomatically fed into the stencil printer; and one or more small holesor marks (known as “fiducials”) on the circuit board are used toproperly align the circuit board with the stencil or screen of thestencil printer prior to printing solder paste onto the circuit board.In some systems, an optical alignment system embodying a vision systemis used to align the circuit board with the stencil.

Once the circuit board has been properly aligned with the stencil in theprinter, the circuit board is raised to the stencil, solder paste isdispensed onto the stencil, and a wiper blade (or squeegee) traversesthe stencil to force the solder paste through apertures in the stenciland onto the circuit board. As the squeegee is moved across the stencil,the solder paste tends to roll in front of the blade, which desirablycauses mixing and shearing of the solder paste so as to attain a desiredviscosity to facilitate filling of the apertures in the screen orstencil. The solder paste typically is dispensed onto the stencil from astandard cartridge. The stencil is then separated from the circuit boardand the adhesion between the circuit board and the solder paste causesmost of the material to stay on the circuit board. Material left on thesurface of the stencil is removed in a cleaning process beforeadditional circuit boards are printed.

Another process in the printing of circuit boards involves inspection ofthe circuit boards after solder paste has been deposited on the surfaceof the circuit boards. Inspecting the circuit boards is important fordetermining that clean electrical connections can be made. An excess ofsolder paste can lead to shorts, while too little solder paste inappropriate positions can prevent electrical contact. Generally, thevision inspection system is further employed to provide atwo-dimensional or a three-dimensional inspection of the solder paste onthe circuit board.

Present day stencil printers require manual intervention to performroutine operations. For example, during a changeover, an operator mustperform many manual tasks, such as changing a stencil, replacing asolder paste cartridge, replacing squeegee blades, and replacing supporttooling. Each of these tasks require the operator to manually performthe task. For example, with most stencil printers, the operator mustunlock the stencil, remove the stencil, properly insert a replacementstencil, and lock the replacement stencil in place. A changeoveroperation can take as long as 30 minutes, during which the stencilprinter is not operating, which may result in the PCB fabrication linenot operating.

Stencil printers further require manual intervention to performreplacement and/or replenishment operations. For example, solder pastecartridges, which supply temperature-controlled solder paste to thestencil printer, require replacement over time, e.g., within four hoursor less. Items subject to normal wear and tear, such as squeegee bladesand stencils, may require periodic replacement when damaged.

SUMMARY OF THE DISCLOSURE

One aspect of the present disclosure is directed to a stencil printerfor printing an assembly material on an electronic substrate. In oneembodiment, the stencil printer comprises a frame, a stencil coupled tothe frame, the stencil having apertures formed therein, and a supportassembly coupled to the frame, the support assembly including toolingconfigured to support the electronic substrate in a print positionbeneath the stencil. The stencil printer further comprises a print headassembly coupled to the frame in such a manner that the print headassembly is configured to traverse the stencil during print strokes. Theprint head assembly includes a squeegee blade assembly and at least onepaste cartridge to deposit assembly material on the stencil. The stencilprinter further comprises a paste dispensing transfer system including apaste cartridge mechanism coupled to the print head assembly, and arotary indexing mechanism coupled to the frame. The paste dispensingtransfer system is configured to transfer a used paste cartridge fromthe print head assembly to the rotary indexing mechanism supported bythe frame and to transfer a new paste cartridge from the rotary indexingmechanism to the print head assembly.

Embodiments of the stencil printer further may include configuring therotary indexing mechanism with a carousel mount configured to rotate anda paste cartridge tube holder mounted on a top surface of the carouselmount. The tube holder may include a half-wall that is configured toprovide lateral support to a paste cartridge to maintain the pastecartridge in a vertical, upright position. The rotary indexing mechanismfurther may include several dividers provided to separate the pastecartridges supported by the rotary indexing mechanism from each other.The rotary indexing mechanism may be configured to be rotated to presentan open receptacle defined between two adjacent dividers to receive theused paste cartridge. The rotary indexing mechanism may be configured tobe rotated to present a new paste cartridge to transfer to print headassembly. The rotary indexing mechanism further may include a mountingbracket configured to secure the rotary indexing mechanism to a supportmember of the frame. The rotary indexing mechanism further may include amotor and bearing housing secured to a bottom of the mounting bracket tosecure a motor and gear box assembly, and a shaft coupled to the motorbearing housing and the carousel mount to drive the rotation of thecarousel mount. The paste cartridge mechanism may include a supportbracket mounted on a support member of the print head assembly and anactuator secured to the support bracket to move the support bracket in az-axis direction. The support bracket may include an end effector havinga base with a receiving feature designed to receive a bottom portion ofthe nozzle of the paste cartridge, with the end effector beingconfigured to selectively engage and secure the nozzle of the pastecartridge and maintain the paste cartridge in the vertical, uprightposition. The support bracket may be secured to the support member ofthe print head assembly by at least one linear bearing to enable themovement of the support bracket, actuator and end effector in the x-axisdirection and is driven by a timing belt. The actuator may be configuredto move the paste cartridge upwardly so that an open end of the pastecartridge is sealed by a cartridge sealing feature of the print headassembly. The end effector may include a receiving feature having twospaced-apart prongs that are sized to surround a narrow cylindricalportion of the nozzle of the paste cartridge to enable the end effectorto support the paste cartridge in the upright, vertical position.

Another aspect of the present disclosure is directed to a method offully automating a changeover and/or a replacement process within astencil printer. In one embodiment, the method comprises: identifying aused paste cartridge scheduled for replacement within the stencilprinter; transferring the used paste cartridge from a print headassembly with a paste cartridge mechanism to a rotary indexingmechanism; transferring a new paste cartridge from the rotary indexingmechanism to the paste cartridge mechanism; and installing the new pastecartridge within the print head assembly.

Embodiments of the method further may include transferring the usedpaste cartridge by presenting an open receptacle of the rotary indexingmechanism and moving the used paste cartridge to the open receptacle.Transferring a new paste cartridge may include presenting the new pastecartridge to the paste cartridge mechanism and moving the new pastecartridge to the paste cartridge mechanism. Installing the new pastecartridge may include moving the new paste cartridge in a z-axisdirection to seal an open end of the paste cartridge.

Yet another aspect of the present disclosure is directed to a pastedispensing transfer system of a stencil printer configured to print anassembly material on an electronic substrate. In one embodiment, thetransfer system comprises a paste cartridge mechanism coupled to a printhead assembly of the stencil printer, and a rotary indexing mechanismcoupled to a frame of the stencil printer. The paste dispensing transfersystem is configured to transfer a used paste cartridge from the printhead assembly to the rotary indexing mechanism supported by the frameand to transfer a new paste cartridge from the rotary indexing mechanismto the print head assembly.

Embodiments of the transfer assembly further may include configuring therotary indexing mechanism with a carousel mount configured to rotate anda paste cartridge tube holder mounted on a top surface of the carouselmount. The tube holder may include a half-wall that is configured toprovide lateral support to a paste cartridge to maintain the pastecartridge in a vertical, upright position. The rotary indexing mechanismfurther may include several dividers provided to separate the pastecartridges supported by the rotary indexing mechanism from each other.The rotary indexing mechanism may be configured to be rotated to presentan open receptacle defined between two adjacent dividers to receive theused paste cartridge. The rotary indexing mechanism may be configured tobe rotated to present a new paste cartridge to transfer to print headassembly. The rotary indexing mechanism further may include a mountingbracket configured to secure the rotary indexing mechanism to a supportmember of the frame. The rotary indexing mechanism further may include amotor and bearing housing secured to a bottom of the mounting bracket tosecure a motor and gear box assembly, and a shaft coupled to the motorbearing housing and the carousel mount to drive the rotation of thecarousel mount. The paste cartridge mechanism may include a supportbracket mounted on a support member of the print head assembly and anactuator secured to the support bracket to move the support bracket in az-axis direction. The support bracket may include an end effector havinga base with a receiving feature designed to receive a bottom portion ofthe nozzle of the paste cartridge, with the end effector beingconfigured to selectively engage and secure the nozzle of the pastecartridge and maintain the paste cartridge in the vertical, uprightposition. The support bracket may be secured to the support member ofthe print head assembly by at least one linear bearing to enable themovement of the support bracket, actuator and end effector in the x-axisdirection and is driven by a timing belt. The actuator may be configuredto move the paste cartridge upwardly so that an open end of the pastecartridge is sealed by a cartridge sealing feature of the print headassembly. The end effector may include a receiving feature having twospaced-apart prongs that are sized to surround a narrow cylindricalportion of the nozzle of the paste cartridge to enable the end effectorto support the paste cartridge in the upright, vertical position.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are not intended to be drawn to scale. In thedrawings, each identical or nearly identical component that isillustrated in various figures is represented by a like numeral. Forpurposes of clarity, not every component may be labeled in everydrawing. In the drawings:

FIG. 1 is a front view of a stencil printer;

FIG. 2 is a front perspective view of a stencil printer;

FIG. 3 is a top plan view of the stencil printer illustrated in FIG. 2with portions removed;

FIG. 4 is a perspective view of a removable cart of an embodiment of thedisclosure, with external packaging removed to reveal interior structureof the movable cart;

FIG. 5A is a perspective view of a tooling tray of an embodiment of thedisclosure;

FIG. 5B is a perspective view of the tooling tray supporting tooling andsqueegee blade assemblies;

FIG. 6 is a perspective view of a tooling tray of another embodiment ofthe disclosure;

FIGS. 7A and 7B are cross-sectional views of a portion of an endeffector of a print head assembly and a portion of a squeegee bladeholder of a squeegee blade assembly in disengaged and engaged positions,respectively;

FIG. 7C is a cross-sectional view of the end effector and the squeegeeblade holder in the engaged position;

FIGS. 8A and 8B are cross-sectional views of a release mechanismconfigured to release the end effector from the squeegee blade holder;

FIGS. 9A and 9B are perspective views of a magazine configured tosupport paste cartridges in retracted and extended positions,respectively.

FIG. 10 is a perspective view of the paste cartridges;

FIGS. 11A-11C are sequential views illustrating the installation of apaste cartridge on the print head assembly;

FIG. 12 is a perspective view of the paste cartridge provided in a pastecartridge mechanism;

FIGS. 13A-13C are perspective views of the print head assemblyconfigured to remove tooling from the tooling tray;

FIG. 14 is a perspective view of a paste dispensing transfer system ofthe embodiment of the present disclosure;

FIG. 15A is an enlarged perspective view of a rotary indexing mechanismof the paste dispensing transfer system;

FIG. 15B is an enlarged perspective view of the rotary indexingmechanism of the paste dispensing transfer system showing details of therotary indexing mechanism;

FIG. 16A is an enlarged perspective view of an end effector having apaste cartridge mechanism of the paste dispensing transfer system;

FIG. 16B is another enlarged perspective view of the end effector havingthe paste cartridge mechanism;

FIGS. 17A and 17B are perspective views showing the interaction of therotary indexing mechanism and the end effector having the pastecartridge mechanism of the paste dispensing transfer system; and

FIG. 18 is an enlarged perspective view of the end effector having thepaste cartridge mechanism.

DETAILED DESCRIPTION OF THE DISCLOSURE

The present disclosure relates generally to material applicationmachines (referred to herein as “stencil printers,” “screen printers,”“printing machines,” or “printers”) and other equipment utilized in asurface mount technology (SMT) process lines and configured to apply anassembly material (e.g., solder paste, conductive ink, or encapsulationmaterial) onto a substrate (e.g., a printed circuit board, referred toherein as an “electronic substrate,” a “circuit board,” a “board,” a“PCB,” a “PCB substrate,” a “substrate,” or a “PCB board”) or to performother operations, such as inspection, rework, or placement of electroniccomponents onto a substrate. Specifically, embodiments of the presentdisclosure are described below with reference to stencil printers usedto produce printed circuit boards.

For the purposes of illustration only, and not to limit the generality,the present disclosure will now be described in detail with reference tothe accompanying figures. This disclosure is not limited in itsapplication to the details of construction and the arrangement ofcomponents set forth in the following description or illustrated in thedrawings. The principles set forth in this disclosure are capable ofother embodiments and of being practiced or carried out in various ways.Also, the phraseology and terminology used herein is for the purpose ofdescription and should not be regarded as limiting. Any references toexamples, embodiments, components, elements or acts of the systems andmethods herein referred to in the singular may also embrace embodimentsincluding a plurality, and any references in plural to any embodiment,component, element or act herein may also embrace embodiments includingonly a singularity. References in the singular or plural form are notintended to limit the presently disclosed systems or methods, theircomponents, acts, or elements. The use herein of “including,”“comprising,” “having,” “containing,” “involving,” and variationsthereof is meant to encompass the items listed thereafter andequivalents thereof as well as additional items. References to “or” maybe construed as inclusive so that any terms described using “or” mayindicate any of a single, more than one, and all of the described terms.In addition, in the event of inconsistent usages of terms between thisdocument and documents incorporated herein by reference, the term usagein the incorporated reference is supplementary to that of this document;for irreconcilable inconsistencies, the term usage in this documentcontrols.

For purposes of illustration, embodiments of the present disclosure willnow be described with reference to a stencil printer used to print anassembly material, such as solder paste, onto a circuit board. Oneskilled in the art will appreciate, however, that embodiments of thepresent disclosure are not limited to stencil printers that print solderpaste onto circuit boards, but rather, may be used in other applicationsrequiring dispensing of other viscous assembly materials, such as gluesand encapsulents. For example, the apparatus may be used to print epoxyfor use as underfill for chip-scale packages. Further, stencil printersin accordance with embodiments of the present disclosure are not limitedto those that print assembly materials on circuit boards, but rather,include those used for printing other materials on a variety ofsubstrates, such as semiconductor wafers. Also, the terms screen andstencil may be used interchangeably herein to describe a device in aprinter that defines a pattern to be printed onto a substrate. Incertain embodiments, the stencil printer may include a Momentum® or anEdison™ series stencil printer platform offered by ITW ElectronicAssembly Equipment of Hopkinton, Mass. An exemplary stencil printer isgenerally designated at 5 in FIG. 1. In this embodiment, the stencilprinter 5 is a Momentum® series stencil printer platform offered by ITWElectronic Assembly Equipment of Hopkinton, Mass.

Referring to FIG. 2, there is generally indicated at 10 a stencilprinter of an embodiment of the disclosure. As shown, the stencilprinter 10 includes a frame 12 that supports components of the stencilprinter. The components of the stencil printer may include, in part, acontroller 14, a display 16, a stencil 18, and a print head or printhead assembly, generally indicated at 20, which is configured to applythe solder paste in a manner described in greater detail below.

As shown in FIG. 2 and described below, the stencil and the print headassembly may be suitably coupled or otherwise connected to the frame 12.In one embodiment, the print head assembly 20 may be mounted on a printhead assembly gantry 22, which may be mounted on the frame 12. The printhead assembly gantry 22 enables the print head assembly 20 to be movedin the y-axis direction under the control of the controller 14 and toapply pressure on the print head assembly as it engages the stencil 18.In a certain embodiment, the print head assembly 20 may be placed overthe stencil 18 and may be lowered in the z-axis direction into contactand sealingly engage the stencil.

The stencil printer 10 may also include a conveyor system having rails(not shown) for transporting a printed circuit board (sometimes referredto as a “printed wiring board,” “substrate,” or “electronic substrate”herein) to a print position in the stencil printer. The rails sometimesmay be referred to herein as a “tractor feed mechanism,” which isconfigured to feed, load or otherwise deliver circuit boards to theworking area of the stencil printer, which may be referred to herein asa “print nest,” and to unload circuit boards from the print nest.

Referring additionally to FIG. 3, the stencil printer 10 has a supportassembly 28 to support the circuit board 29 (shown in dashed lines),which raises and secures the circuit board so that it is stable during aprint operation. In certain embodiments, the substrate support assembly28 further may include a particular substrate support system, e.g., asolid support, a plurality of pins or flexible tooling, which ispositioned beneath the circuit board when the circuit board is in theprint position. The substrate support system may be used, in part, tosupport the interior regions of the circuit board to prevent flexing orwarping of the circuit board during the print operation.

In one embodiment, the print head assembly 20 may be configured toreceive solder paste from a source, such as a dispenser, e.g., a solderpaste cartridge, that provides solder paste to the print head assemblyduring the print operation. Other methods of supplying solder paste maybe employed in place of the cartridge. For example, solder paste may bemanually deposited between the blades or from an external source.Additionally, in a certain embodiment, the controller 14 may beconfigured to use a personal computer having a suitable operatingsystem, such as a Microsoft Windows® operating system provided byMicrosoft Corporation, with application specific software to control theoperation of the stencil printer 10. The controller 14 may be networkedwith a master controller that is used to control a production line forfabricating circuit boards.

In one configuration, the stencil printer 10 operates as follows. Acircuit board 29 is loaded into the stencil printer 10 using theconveyor rails. The support assembly 28 raises and secures the circuitboard 29 to a print position. The print head assembly 20 is then loweredin the z-axis direction until blades of the print head assembly contactthe stencil 18 at a desired pressure. The print head assembly 20 is thenmoved in the y-axis direction across the stencil 18 by the print headassembly gantry 22. The print head assembly 20 deposits solder pastethrough apertures in the stencil 18 and onto the circuit board 29. Oncethe print head assembly has fully traversed the stencil 18 across theapertures, the print head assembly is lifted off the stencil and thecircuit board 29 is lowered back onto the conveyor rails. The circuitboard 29 is released and transported from the stencil printer 10 so thata second circuit board may be loaded into the stencil printer. To printon the second circuit board 29, the print head assembly is lowered inthe z-axis direction into contact with the stencil and moved across thestencil 18 in the direction opposite to that used for the first circuitboard.

An imaging system 30 may be provided for the purposes of aligning thestencil 18 with the circuit board 29 prior to printing and to inspectthe circuit board after printing. In one embodiment, the imaging system30 may be disposed between the stencil 18 and the support assembly 28upon which a circuit board is supported. The imaging system 30 iscoupled to an imaging gantry 32 to move the imaging system. In oneembodiment, the imaging gantry 32 may be coupled to the frame 12, andincludes a beam that extends between side rails of the frame 12 toprovide back and forth movement of the imaging system 30 over thecircuit board 29 in a y-axis direction. The imaging gantry 32 furthermay include a carriage device, which houses the imaging system 30, andis configured to move along the length of the beam in an x-axisdirection. The construction of the imaging gantry 32 used to move theimaging system 30 is well known in the art of solder paste printing. Thearrangement is such that the imaging system 30 may be located at anyposition below the stencil 18 and above the circuit board 29 to capturean image of predefined areas of the circuit board or the stencil,respectively.

After one or more applications of the solder paste to circuit boards,excess solder paste may accumulate at the bottom of the stencil 18 and astencil wiper assembly, generally indicated at 34, and may move beneaththe stencil to remove the excess solder paste. In other embodiments, thestencil 18 may be moved over the stencil wiper assembly.

As mentioned above, stencil printers require manual intervention toperform replacement of certain parts and/or replenishment operations.For example, a typical stencil requires replacement after a certainperiod of time, e.g., four hours. Also, stencils need replacement forseparate production runs. In addition, solder paste cartridges, whichsupply temperature-controlled solder paste to the stencil printer,require replacement over time, e.g., within four hours or less. Aseparate production run may require a different solder paste material.Another item requiring periodic replacement is squeegee blades, whichare subject to wearing during use. And finally, tooling used to supporta substrate in a print position is subject to replacement when changingfrom one production product to another.

A system and method of replacing tooling used to support a substrate ina print position includes, either for a new production run or because ofa defect detected with existing tooling, retrieving new tooling from atooling stockroom and transported to one of several stencil printers. Atthe production line, the used tooling is removed from the stencilprinter and the new tooling is inserted into the stencil printer andsecured for use. The used tooling is transported to a station where thetooling is inspected, and if salvageable, cleaned for reuse. Ifdefective, the tooling is scrapped in a responsible manner. Oncecleaned, the tooling is transported back to the tooling stockroom, wherethe tooling is ready to be used during the same or different productionrun.

A system and method of replacing a squeegee blade or a pair of squeegeeblades includes, either for a new production run or because of a defectdetected with an existing squeegee blade, retrieving a new squeegeeblade from a squeegee blade stockroom and transporting the new squeegeeblade to one of several stencil printers. At the production line, theused squeegee blade is removed from the stencil printer and the newsqueegee blade is inserted into the stencil printer and secured for use.The used squeegee blade is transported to a station where the squeegeeblade is inspected, and if salvageable, cleaned for reuse. If defective,the squeegee blade is scrapped in a responsible manner. Once cleaned,the squeegee blade is transported back to the squeegee blade stockroom,where the squeegee blade is ready to be used during the same ordifferent production run.

A system and method of replacing a paste cartridge, either for a newproduction run or because of exhaustion of an existing paste cartridge,includes retrieving a new paste cartridge from a paste cartridgestockroom and transporting the new paste cartridge to one of severalstencil printers. The stencil printers can be part of a singleproduction line used to fabricate printed circuit boards or part ofseveral production lines. The number of stencil printers can vary. Thestorage of the paste cartridges in the stockroom and the transportationof the paste cartridge should take place in a temperature- and/orclimate-controlled environment suitable to preserve the solder pastecontained within the solder paste cartridges. At the production line,the “spent” or used paste cartridge is removed from the stencil printerand the “full” or new paste cartridge is inserted into the stencilprinter and secured for use. The spent paste cartridge is transported toa station where the paste cartridge is saved (because it is notcompletely used) or saved for recycling. Once saved or recycled, thepaste cartridge is transported back to the paste cartridge stockroom,where the paste cartridge is ready to be used during the same ordifferent production run.

Embodiments of the present disclosure are directed to a delivery systemthat is configured to automate a changeover process for a stencilprinter and to implement one or more of the systems and methodsdescribed herein. In one embodiment, the delivery system includes amovable cart that is configured to engage a stencil printer to supplyand receive replacement and replenishment parts and materials to thestencil printer. For example, the stencil printer may include a dockingstation that is configured to receive the movable cart. The dockingstation may include an interface that enables the movable cart tocommunicate with the stencil printer. A single movable cart may beconfigured to include replacement support tooling, replacement squeegeeblades, replenishment squeegee blades, replacement solder pastecartridges, and replenishment solder paste cartridges. During achangeover, for example, the stencil printer must be reconfigured toproduce different items. Thus, a new support tool to accommodate adifferent substrate, new blades having different lengths, and adifferent type of solder paste may be employed within the stencilprinter to produce a different product.

The changeover process described herein can be achieved by a singlemovable cart that is configured to replace and/or replenish each item.In other embodiments, more than one movable cart can be provided.

The movable cart, or another movable cart, is configured to support apredetermined number of tooling used to support a printed circuit boardin a print position, which is selected for production runs anticipatedfor a particular day or a particular period of time. The movable cartand/or the stencil printer can be configured to identify the supporttooling, store the support tooling, transport the support tooling to andfrom the stencil printer, inspect the support tooling, and interfacewith the stencil printer. The movable cart also may be configured toremove used parts, such as support tooling, from the stencil printer.

The movable cart, or another movable cart, is configured to support apredetermined number of squeegee blades, which are selected forproduction runs anticipated for a particular day or a particular periodof time. The movable cart and/or the stencil printer can be configuredto identify the squeegee blades, store the squeegee blades, transportthe squeegee blades to and from the stencil printer, inspect thesqueegee blades, and interface with the stencil printer. The movablecart also may be configured to remove used parts, such as squeegeeblades, from the stencil printer.

The movable cart, or another movable cart, is configured to support apredetermined number of paste cartridges, which are selected forproduction runs anticipated for a particular day or a particular periodof time. The movable cart and/or the stencil printer can be configuredto identify the paste cartridges, store the paste cartridges in asuitable environment, transport the paste cartridges to and from thestencil printer, inspect the paste cartridges, and interface with thestencil printer. The movable cart also may be configured to remove usedparts, such as paste cartridges, from the stencil printer. Moreover, themovable cart can be configured to store paste cartridges long term. Inone embodiment, long term storage of solder paste can be achieved byrefrigeration at 0 to 10° C. (32 to 50° F.). The paste cartridges can bestored at a location in the movable cart to maintain this temperaturerange. In another embodiment, the movable cart can be configured topre-heat the paste cartridges prior to use to ready the cartridges foruse in the stencil printer.

Referring to FIG. 4, in one embodiment, a movable cart, generallyindicated at 40, includes a frame or housing 42 configured to supportreplacement and/or replenishment items. As shown, the frame 42 isgenerally rectangular and is supported on wheels or casters (not shown).In one embodiment, the movable cart 40 is configured to be manuallymoved by an operator by pushing the frame 42 of the movable cart. Inthis embodiment, the movable cart 40 can be configured with a push baror a handle. In another embodiment, the movable cart 40 is configured tobe automatically moved, either by remote control or by an automatedcontrol associated with the movable cart, the stencil printer 10, theproduction line, and/or some other dedicated control. In thisembodiment, the movable cart 40 can include wheels that are driven by asuitable motor and drive train, and a control associated with themovable cart, the stencil printer 10, the production line, and/or someother dedicated control is configured to control the movable cart. Themovable cart 40 further can include one or more sensors and/or a visionsystem, e.g., cameras, to guide the movable cart from a stockroom, forexample, to the stencil printer.

The movable cart 40 includes a translatable carriage, generallyindicated at 44, that can be configured to support one or more items,such as replacement stencils, replacement support tooling, replacementand/or replenishment squeegee blades, and replacement and/orreplenishment paste cartridges. The translatable carriage 44 includes arectangular structure 46 having a top 48, a bottom 50, opposite sides52, 54, an open front, and an open back. The sides 52, 54 of thestructure 46 can includes slots, each indicated at 56, each slot beingconfigured to receive and support opposite edges of a planar item, suchas the stencil 18, or, in the shown embodiment, a tooling tray,generally indicated at 60. The structure 46 can be configured to receiveseveral items, e.g., ten or more. The space between slots 56 can besized to receive a standard stencil frame therein.

The translatable carriage 44 further includes four vertically orientedrods, each indicated at 62, positioned at the four corners of thestructure 46. As shown, the top of the structure 46 includes two barmembers 64, 66, with one bar member 64 being secured to the top 48 ofthe structure adjacent the open front of the structure and the other barmember 66 being secured to the top adjacent the open back. Similarly,the bottom of the structure 46 includes two bar members 64 a, 66 a, withone bar member 64 a being secured to the bottom 50 of the structureadjacent the open front of the structure and the other bar member 66 abeing secured to the bottom adjacent the open back. Each bar member 64,64 a and 66, 66 a includes two openings formed on opposite ends of thebar, with the openings being positioned to receive a respective rodtherein. The arrangement is such that the structure 46 is capable ofmoving vertically with respect to the rods 62 to raise and lower thestructure. A suitable mechanism can be provided to raise and lower thestructure 46 under the control of a controller. For example, a ballscrew drive assembly can be provided to move the structure 46 toposition a “shelf” defined by a slot 56 adjacent the stencil printer 10.The “shelves” can be specifically designed to support the tooling tray60, which can be configured to support items including, but not limitedto new and used support tooling, new and used squeegee blades, and newand spent/used paste cartridges. Some shelves can include tooling trays60 that are designated as “clean shelves” to support clean or new itemsready to be used within the stencil printer 10. Some shelves can includetooling trays 60 that are designated as “dirty shelves” to support useditems to be taken away from the stencil printer 10. As mentioned above,the space between the slots 56 can be spaced apart from one anotherspecific distances to receive various items. For example, the shelvescan be spaced apart ⅜-inch to 1½-inch from one another to accommodatestencil frame and tooling tray thicknesses.

The movable cart 40 can be configured with one or more devices used totransport items from the movable cart to the stencil printer 10 and fromthe stencil printer to the movable cart. For example, the device caninclude a transport arm 68 that is configured to push and retrievestencils 18 and tooling trays 60 to and from the movable cart 40,respectively. For example, as shown in FIG. 4, the transport arm 68 ispushing the tooling tray 60 away from the movable cart 40, with thetooling tray being positioned to be received by the stencil printer. Anysuitable mechanism can be provided to move the transport arm, such as aball screw drive assembly.

Referring to FIGS. 5A and 5B, the tooling tray 60 includes a rectangularor square frame 70 and a planar body 72. The frame 70 can be sized toreplicate the frame of the stencil 18. In one embodiment, the toolingtray 60 can be fabricated from lightweight yet strong material, such asan aluminum alloy. As shown in FIG. 5A, the body 72 of the tooling tray60 can include several cut outs, each indicated at 74, and severalrecesses, each indicated at 76, to receive support tooling and squeegeeblade assemblies, respectively. As shown in FIG. 5B, the cut outs 74 areconfigured to receive and secure support tooling, each indicated at 78,which is provided to support the electronic substrate 29 during astencil print operation. The recesses 76 are configured to receive andsecure squeegee blade assemblies, each indicated at 80, which are usedby the print head assembly 20 to perform a stencil print operation.

As noted, the tooling tray 60 is substantially the same in form-factoras a stencil to permit handling and storage/retrieval of the toolingtray in substantially the same manner as a stencil. The movable cart 40and the tooling tray 60 are particularly suited to handle stencils andtooling trays in a common manner. The movable cart 40 is configured topartially deliver the tooling tray 60 from the movable cart to thestencil printer 10, and the stencil printer is configured to receive thetooling tray the rest of the way. For example, the transport arm 68 canbe used to push the tooling tray 60 away from the carriage 44 and toretrieve the tooling tray into the carriage.

In some embodiments, the tooling tray 60 can include fiducials, whichcan be viewed by the imaging system 30 of the stencil printer 10 toestablish alignment to the parts and locations on the tooling tray. Amethod of aligning to the tooling tray 60 can be employed by capturingand analyzing fiducial locations.

Referring to FIG. 6, the print head assembly 20 of the stencil printer10 includes an end effector 82, which can be configured to pick up andrelease items from the tooling tray 60. As previously described, theprint head assembly 20 is mounted on the print head assembly gantry 22,which moves the print head assembly in the y-axis direction under thecontrol of the controller 14. The print head assembly 22 is configuredto move in the z-axis direction as described above.

In one embodiment, the end effector 82 can be configured to pick up andrelease a squeegee blade assembly 80. The end effector 82 is configuredto too lessly engage and disengage the squeegee blade assembly 80 toattach and remove the squeegee blade assembly from the print headassembly 20. As shown, the tooling tray 60 is configured with aspring-loaded locking mechanism to secure a squeegee blade holder of thesqueegee blade assembly 80 to the end effector 82 of the print headassembly 20. A method of passively picking up and dropping off squeegeeblade assemblies 80 without needing additional axes or actuators can beperformed by the end effector 82.

Referring to FIGS. 7A-7C, the end effector 82 includes arectangularly-shaped body 84 that is secured to the print head assembly20 by a pair of connecting rods, each indicated at 86. The end effector82 further includes a pair of downwardly extending pins (FIG. 7C), eachindicated at 88, with each pin having a notch 90, the purpose of whichwill be described as the description of the mechanism proceeds. Thesqueegee blade assembly 80 includes a holder 92 having an L-shapedrecess 94 formed therein. The recess 94 includes a vertical portion 94 aand a horizontal portion 94 b. The mechanism includes a spring-loadedpin 96 that is housed within the horizontal portion 94 b of the recess94, which is biased toward the vertical portion 94 a of the recess by aspring 98.

FIGS. 7A and 7B illustrate the pin 88 of the end effector 82 enteringthe vertical portion 94 a of the recess 94. As the pin 88 enters thevertical portion 94 a of the recess 94, a sloped portion of the pinengages a corresponding sloped portion of the spring-loaded pin 96. Thedownward movement of the pin 88 causes the spring-loaded pin 96 to moveagainst the bias of the spring 98 until the notch 90 of the pin receivesan engaging element 100 of the spring-loaded pin to engage and securethe holder 92 of the squeegee blade assembly 80 to the end effector 82.FIG. 7C illustrates both pins 88 being secured by their respectivespring-loaded pins 96 to secure the holder 92 of the squeegee bladeassembly 80. In this position, the end effector 82 secures the squeegeeblade assembly 80 in which the squeegee blade assembly can be employedto perform a stencil print operation.

FIGS. 8A and 8B illustrate the pin 88 of the end effector 82 beingretracted from the vertical portion 94 a of the recess 94. An upwardlyprojecting element 102 is provided on the tooling tray 60 to move thespring-loaded pin 96 from the engaged position illustrated in FIGS. 7Band 7C to the disengaged position illustrated in FIG. 7A. Referring toFIG. 8A, a sloped portion of the element 102 engages a correspondingsloped portion formed on the spring-loaded pin 96. The downward movementof the end effector 82 toward the element 102 causes the spring-loadedpin 96 to move against the bias of the spring 98 until the engagingelement 100 of the spring-loaded pin is removed from the notch 90 of thepin 88 to release the squeegee blade assembly 80 from the end effector82, which is shown in FIG. 8B. The element 102 maintains thespring-loaded pin 96 in the disengaged position thereby enabling therelease of the holder 92 of the squeegee blade assembly 80.

In some embodiments, the end effector 82 can employ magnets to engagemagnetic material associated with the squeegee blade assembly 80 tosecure and release the squeegee blade assembly to the print headassembly 20.

Referring back to FIG. 4, the movable cart 40 includes replacement pastecartridges, each indicated at 110. As shown, the paste cartridges 110are supported on a paste cartridge staging area of the movable cart 40,otherwise referred to as an “on-deck-circle,” which permits the stencilprinter 10 to be continuously fed solder paste for uninterruptedoperation. Referring to FIGS. 9A and 9B, the frame 12 of the stencilprinter 10 includes a block 114 having recesses configured to supportthe paste cartridges 110 in an upright, vertical positions whenreceiving paste cartridges from the movable cart 40. The block 114 issecured to a movable support arm 116, which is coupled to the frame 12of the stencil printer 10 and configured to move from a retractedposition to an extended position. Each paste cartridge 110 is supportedby a cylindrical half-wall 118 to provide lateral support to the pastecartridge to assist in maintaining the paste cartridge in a verticalposition. The block 114 shown in FIGS. 9A and 9B is configured tosupport two paste cartridges 110, although the block may be configuredto support any number of paste cartridges.

FIG. 9A illustrates the block 114 and the movable support arm 116 in theretracted position where the stencil printer 10 stores the pastecartridges 110. FIG. 9B illustrates the block 114 and the movablesupport arm 116 in the extended position in which paste cartridges 110can be transferred from the movable cart 40 to the block. Any suitablemechanism can be provided to move the movable support arm 116, such as aball screw drive assembly.

In some embodiments, the paste cartridges 110 can be hand fed manuallyonto the block 114 of the stencil printer 10 without the movable cart.

Referring to FIG. 10, multiple paste cartridges 110 can be provided in amagazine 112 of “N” paste cartridges that permits operation of thestencil printer 10, including paste change-over(s), even when themovable cart 40 is not present. The number of paste cartridges 110provided by the magazine 112 can be determined by the logistic needs ofthe stencil printer 10 and the particular application.

Referring to FIGS. 11A-11C, the process of installing the pastecartridge 110 on the print head assembly 20 is sequentially illustrated.The print head assembly 20 includes a paste cartridge mechanismincluding a support bracket 120 that is configured to receive, seat,seal and pressurize the paste cartridge 110 to the print head assembly20. As shown, the support bracket 120 includes a base 122 having areceiving feature 124 designed to receive a bottom portion of the pastecartridge 110. In the shown example, the receiving feature 124 includestwo spaced-apart prongs that are sized to surround a narrow cylindricalportion of the paste cartridge 110. The narrow cylindrical portion isdisposed between two wider cylindrical portions to capture the prongs inbetween. The print head assembly 20 is configured to move to the pastecartridge 110 to secure the paste cartridge to the support bracket 120of the paste cartridge mechanism by operating the print head assemblygantry 22.

The support bracket 120 of the paste cartridge mechanism furtherincludes an upright member 126 that is configured to secure, seal andpressurize an upper portion of the paste cartridge 110. The uprightmember 126 includes a sealing portion 128 that is designed to seal theupper portion of the paste cartridge 110. Once the paste cartridge 110is seated in the receiving feature 124 of the base 122, the base isconfigured to move upwardly in the manner shown between FIGS. 11B and11C to seal a pneumatic pressure connection of the paste cartridge 110with the sealing portion 128. Once pressurized, the paste cartridge 110is ready to perform a dispensing operation. Any suitable mechanism canbe employed to move the base 122 in an upward direction and in adownward direction to engage and disengage the paste cartridge 110 toand from the sealing portion 128, respectively. For example, a pneumaticassembly 130 can be provided to move the base 122. Another pneumaticcylinder 132 can be employed to lower the entire cylinder assemblyduring a dispensing operation. In one embodiment, the pneumatic cylinder132 powers the up-and-down movement of the print head assembly 20 in thez-axis direction. After the paste cartridge 110 is lifted to sealagainst the sealing portion 128, the paste cartridge can be pressurizedwhen required to dispense solder paste. The connection for this assemblyis through the upright member 126 and the sealing portion 128.

FIG. 12 illustrates a paste cartridge 110 secured and sealed by thepaste cartridge mechanism. Thus, the paste cartridge mechanism iscapable of seating and sealing the paste cartridge 110. The pastecartridge mechanism can be configured to accept different sized pastecartridges or paste jars.

In some embodiments, each paste cartridge 110 includes a one-dimensionalbarcode label that wraps all the way around the paste cartridge, therebypermitting the reading of the barcode from any orientation relative tothe tube.

Referring to FIGS. 13A-13C, a support tooling movement mechanism isgenerally indicated at 140, which is configured to move the supporttooling 78 from the tooling tray 60 to the stencil printer 10. As shown,the support tooling movement mechanism 140 includes a plate 142 mountedon the print head assembly 20. The plate 142 has four linear bearings,each indicated at 144, with a first set of linear bearings beingpositioned one above the other on one side of the plate and a second setof linear bearings being positioned one above the other on the otherside of the plate. Each set of linear bearings 144 has a tooling member146 configured to move laterally on the linear bearings. Any suitablemechanism can be employed to move the tooling member 146. For example, aball screw drive assembly can be provided to move the tooling member 146along the linear bearings. In one embodiment, the mechanism can bepowered by the drive assembly that powers the up-and-down movement ofthe print head assembly 20 in the z-axis direction. Each tooling member146 includes a downwardly extending pin 148 having a head configured tobe received within a receiving feature 150 associated with the supporttooling 78.

FIG. 13A illustrates the pins 148 of the tooling members 146 beingreceived in respective mating features 150 of the support tooling 78.The tooling members 146 can be extended to a width wider than thesupport tooling 78, and moved toward one another to capture the supporttooling 78 between the pins via the receiving features 150. The toolingtray 60 can include recesses formed therein that are located adjacent tothe support tooling 78 to enable the pins 148 to be placed laterallyadjacent to the receiving features 150 of the support tooling 78. FIG.13B illustrates the print head assembly 20 being raised in a z-axisdirection to pick up the support tooling 78. The mechanism used to pickup and drop off the support tooling 78 can be configured to engage andsecure the support tooling, can include magnets to facilitate attachmentand detachment of the support tooling from the tooling members. Asshown, an opening, e.g., cut out 74, is provided in the tooling tray 60to facilitate access to the support tooling in the stencil printer 10from the print head assembly 20 while the tooling tray is in the stencilprinter.

The arrangement is such that the movable cart 40 is configured tosupport a predetermined number of support tooling 78 used to support aprinted circuit board 29 in a print position. The movable cart 40 andthe stencil printer 10 operate with one another to identify the supporttooling 78, store the support tooling, transport the support tooling toand from the stencil printer, inspect the support tooling, and interfacewith the stencil printer. The movable cart 40 and the stencil printer 10also operate with one another to remove used parts, such as supporttooling 78, from the stencil printer.

In some embodiments, multiplexing motion axes in the movable cart 40 canminimize cost and complexity of the drive system. The drives may residein either the movable cart 40 or the stencil printer 10.

In some embodiments, the print head assembly 20 is capable of picking upand placing support tooling 78. The same print head assembly 20 iscapable of picking up and dropping off squeegee blade assemblies 80.

In some embodiments, the mechanisms used to manage support tooling orplates 78, squeegee blade assemblies 80 and paste cartridges 110 can beprovided on other gantries, instead of the print head assembly gantry22, such as the imaging system gantry 32 or the stencil wiper assemblygantry.

The movable cart 40 can be configured with an interface, which isdesigned to dock within a docking station provided on the stencilprinter 10. In one embodiment, the interface of the movable cart isconfigured to dock within the docking station of the stencil printer 10,both from a mechanic interface and an electronics communicationinterface. In a particular embodiment, the movable cart can beconfigured with a unique mechanical interface that mates with a uniquemechanical interface of the stencil printer 10. The unique mechanicalinterfaces can include geometric features. In another embodiment, themovable cart can be configured with pins that are received within guidesassociated with the stencil printer 10 to register the movable cart withthe stencil printer prior to fully docking the movable cart. The pinsand guides can be reversed, with the pins provided on the stencilprinter 10 and the guides provided in the movable cart. Other types ofguides can be used, such as electrical/magnetic guides, vision guides,sensors, latches, etc. The movable cart, when docked within the dockingstation of the stencil printer 10, can physically engage the stencilprinter or be spaced from the stencil printer.

In some embodiments, movable cart can be configured to clean squeegeeblades by cleaning or otherwise removing used paste from the squeegeeblades.

In some embodiments, the movable cart can be configured to change usedsqueegee blades by unclamping squeegee blades from the print head 20 andpositioning the used squeegee blades on an open shelf of the movablecart. New squeegee blades are taken from the movable cart and mounted onthe print head 20 of the stencil printer 10.

In some embodiments, the movable cart includes a controller that isadapted to control the operation of the movable cart based onoperational parameters obtained by the controller. The controller can beconfigured to communicate with the controller 14 of the stencil printer10 and/or a controller associated with the production line. In oneembodiment having multiple movable carts, the controller may embody aplurality of controllers provided in each movable cart that communicateswith one another over a controller area network (CAN) Bus or other typeof network. In other embodiments, a master controller may be provided tocontrol the operation of the controllers of the movable carts 80. Eachmovable cart may be provided with a display, which is operably coupledto the controller. The display is adapted to display the operationalparameters of the movable cart, such as, but not limited to, the numberof clean and used stencils, the number of full and spent/used pastecartridges, the number of new and used squeegee blades, and/or thenumber of new and used tooling. Suitable monitors may be provided toacquire such information. Alternatively, or in addition to the foregoingembodiment, the operational parameters may be displayed on the display16 provided within the stencil printer 10 and/or a display associatedwith the production line.

In other embodiments, the movable cart may be controlled by thecontroller 14 of the stencil printer 10 and/or a controller associatedwith the production line. The controller can be a controller dedicatedto one or more movable carts.

In some embodiments, material identification for items on the movablecart can include a device to manipulate the item and a scanner to scanand identify the item. For example, for paste cartridges, the movablecart can be configured to include a pinch wheel to rotate the pastecartridge to align a code or predetermined identification mark providedon the paste cartridge with scanner provided on the movable cart. Thesystem is configured to tie material identification associated with thepaste cartridge to a recipe, production time, etc., for the stencilprinter 10. In one embodiment, a barcode to identify the items can beimplemented. For example, the barcode can include a 1D scanner for UPCcodes, a 2D scanner for QRC codes, a printed label applied on the itemor a laser etched label etched on the item. In another embodiment, anRFID system to identify the items can be implemented. For example, theRFID system can include an RFID tag applied to the item and an RFIDreader associated with the movable cart 40 or the stencil printer 10.With an RFID system, line-of-site between the reader and the item is notrequired. Moreover, scanning is not required to identify all itemswithin the movable cart. In another embodiment, an imaging or visionsystem to identify the items can be implemented. The vision system couldbe an imaging system similar to the imaging system 30 associated withthe stencil printer 10, and can be associated on the stencil printer,off the stencil printer or on the movable cart.

In some embodiments, a database is provided to keep track of itemsstocked on the movable cart. In one embodiment, the database may includean open application (App) architecture and be configured to push data tothe stencil printer 10. The movable cart 40 can be configured tocommunication with the stencil printer 10 to push/pull data to stencilprinter and/or the production line or configured to communicate with theproduction line directly. The database can include job information ormaterial information. The database further can communicate with amanufacturing execution system (MES) associated with the productionline, the stencil printer 10, or both. The MES system can be configuredto know which materials are required for a production run. The movablecart can be configured to communicate with the MES system to adjustdelivery of items to the stencil printer 10.

The database further can be configured to retrieve information aboutitems based on identification, e.g., a barcode number. In oneembodiment, a central management system can be provided in which thestencil printer 10 and/or the movable cart 40 is programmed to acceptmaterial coming from movable cart. The movable cart 40 is programmed toupdate the database to identify the materials on the movable cart, loadinformation into the database associated with the movable cart and/orthe stencil printer 10 from a network, which is tied back to the MESsystem.

The database further can be configured to store additional information,such as usage and consumption. The database can be configured to storeinformation locally or remotely, and can be configured to store dataassociated with one or more production runs. For example, the databasecan be configured to obtain and store data including but not limited totraceability of stencils, paste cartridges, squeegee blades and tooling,paste usage, cycles, etc.

The database can be configured to share prediction data whenreplacement/replenishment is needed. For example, with respect tostoring information related to paste cartridges, the database can beconfigured to perform one or more of the following: store information onwhen paste cartridges need replenishment; perform a certain function ifa paste cartridge is low on paste; trigger an alarm and/or a report thatthe paste cartridge is low; signal to an inventory control systemassociated with the stencil printer 10 and/or the production line;perform analytics on consumable usage based on operating parameters andactual use and upstream/downstream equipment activity; predict changeoutor maintenance (on the stencil printer and/or on the movable cart 40);and correlate over multiple sites to predict when to switch out pastecartridges. The database can be configured to share prediction data forother changeable/consumable items, such as for the stencils, pastecartridges, squeegee blades and tooling.

The database can be configured to store data associated with lottraceability. In addition, RFID or mechanical keying of a board or astencil frame of the stencil is provided to ensure correctalignment/orientation/direction/front-back/top-bottom when these itemsare inserted into the stencil printer 10. This information can be usedto verify correct orientation and/or fit before the items aretransported from the warehouse and/or before the items are installed inthe stencil printer 10. A low-cost reader can perform this function.

In some embodiments, the movable cart can be configured to storematerials. The movable cart can be configured to be flexible toaccommodate where the materials come from and where the materials go to.In addition, the movable cart can be configured to identify where aparticular material is located on the movable cart. In certainembodiments, the location, whether by auto delivery or manual delivery,is remote, local, on the movable cart, and/or on the stencil printer 10.As mentioned above, the movable cart can be configured to controlenvironmental parameters. For example, the movable cart can beconfigured to control temperature for paste contained within pastecartridges by chilling stored paste cartridges, heating paste cartridgesready for use, and chilling paste cartridges that have been used, butstill retain paste. The movable cart further can be configured topredict when to start heating/chilling paste cartridges based onupcoming production, track time for shelf life, and individually controleach paste cartridge to proper temperature and at correct time. In otherembodiments, the movable cart can include a cartridge shooter to movepaste cartridges. The movable cart further can be configured to controlhumidity to avoid condensate. The movable cart further can be configuredto operate in a clean environment, e.g., a standard mechanical interface(SMIF) environment.

In some embodiments, the movable cart can be configured to performinventory control. Specifically, the movable cart can be configured toidentify where material is located, how much material is used, how thematerial is used, when the material is used, tie the material andinformation about the material to a customer inventory control system,and track material type consumed per board or lots of boards.

In some embodiments, the movable cart can be configured to organizeitems stored on the movable cart. As mentioned above, in one embodiment,one movable cart can be provided to store, transport and delivermultiple resources, including but not limited to stencils, pastecartridges, squeegee blades and tooling. In another embodiment, themovable cart can be configured to store, transport and deliver a singleresource or item to the stencil printer 10. For example, the movablecart can be configured to store multiple stencils. The movable cart canbe configured to service multiple production lines. In anotherembodiment, the movable cart can be configured to service one stencilprinter 10.

In some embodiments, the movable cart can be configured to transportitems from the movable cart to the stencil printer 10 and from thestencil printer to the movable cart, and be able to account forelevation differences between the movable cart and the stencil printer.The transportation can be automated or manual. In one embodiment,movable cart can be moved by automatically guided vehicle (AVG)technology associated with the movable cart or remotely controlled. Inanother embodiment, the movable cart can be configured to moveautonomously. In another embodiment, the movable cart can be configuredto be moved manually. In yet another embodiment, the movable cart can beconfigured to move items stored on the movable cart automatically and/ormanually. For example, the movable cart can be configured to move itemsautomatically, and can provide for an interruption of a pre-plannedactivity in which the items are moved manually.

In some embodiments, timing associated with performing transportationfunctions of the movable cart can be programmed to account for shiftchange, e.g., a personnel shift, scheduled maintenance, on demandactivities, e.g., a recipe change, and predictive events (just-in-timereplacements). The timing can be programmed to meet multiple linebalance control requirements, with one or more movable carts and to meetreal-time on-demand material supply demands on the production line.

In some embodiments, the movable cart is configured to performinspection. For example, the movable cart can inspect on cart and offcart items including stencils, paste cartridges, squeegee blades, andtooling. In one embodiment, a vision system associated with the movablecart can be configured to obtain images of the items. The vision systemin conjunction with the controller, can be configured to inspect forcleanliness, damage, wear, and identification readability, e.g., is thebarcode label worn, dirty or torn. The vision system can embody any typeof 2D, 3D or color camera.

In some embodiments, the interface and the docking station can beconfigured with a clamping system to maintain the movable cart in placewith respect to the stencil printer 10. For example, a magnetic clampingsystem can be employed.

In some embodiments, the stencil printer 10 can be configured withmultiple docking stations, e.g., five docking stations. The dockingstation can be provided at a front of the stencil printer 10 or at aback of the stencil printer.

The movable cart and/or the stencil printer 10 can be configured toverify whether the movable cart can be docked and interface with thestencil printer. In one embodiment, verification can be provided toconfirm that the movable cart is in position and ready to interface withthe stencil printer 10. This verification process can further determinewhether correct materials are on the movable cart and whether themovable cart material information can be received from MES system, orlocally identified. If not correct, the movable cart 40 can beconfigured to activate an alarm and/or alert an operator if wrong ordamaged materials are on the movable cart.

In some embodiments, the movable cart can be configured with actuationdevices or actuators to move items onto and off of the movable cart oncethe movable cart is docked to the stencil printer 10. Embodiments of theactuators can be implemented on the movable cart, the stencil printer 10or both. In another embodiment, the items can be manually loaded andunloaded from the movable cart.

In some embodiments, the movable cart can be configured to interfacewith a production line. With this embodiment, the operator of theproduction line can confirm the correct location and acknowledge receiptof the movable cart on the stencil printer 10.

In some embodiments, the movable cart can be configured to communicatewith the stencil printer 10, the production line, and/or select machineswithin the production line via an open platform. Communication systemscan include a wired system, a wireless system (through a common network,mesh, Bluetooth, Wi-Fi, Zigbee, WAN, Nodes, Li-Fi, etc.), a combinationof wired and wireless systems, and infrared (IR) system.

In some embodiments, the movable cart can be configured with a dedicatedpower source. In one embodiment, the movable cart includes a batteryconfigured to power automated components provided in the movable cart,e.g., mechanisms used to move stencils into and out of the movable cart,mechanisms used to move paste cartridges into and out of the movablecart, mechanisms used to move squeegee blades into and out of themovable cart, and mechanisms used to move tooling into and out of themovable cart. In other embodiments, the movable cart can be configuredwith an uninterruptible power supply. The power source can be configuredto support actuation while “docked” (high-voltage from stencil printerwhen docked, otherwise low-voltage when undocked). The power source canbe configured to recharge for autonomous operations, e.g., recharge abattery from power provided by the stencil printer 10.

In some embodiments, the movable cart can be configured to function withthe stencil printer 10. For example, the movable cart can be configuredto provide a handshaking function with the stencil printer 10 prior to atransfer of an item, e.g., “please give me stencil #1234.” The movablecart and the stencil printer 10 can be configured with a communicationprotocol and/or a library reference on what is available to consume. Themovable cart can be configured to determine whether the movable cart hascorrect items. The handshaking function can be configured to ensure thecorrect transfer of an item, e.g., “here's stencil #1234,” and/or thesubsequent transfer of an item, e.g., “I now have stencil #1234.” In oneembodiment, a mobile device can be configured to scan and identify itemsin the movable cart, and determine, for example, whether the items areready for use, require cleaning, etc.

In some embodiments, the movable cart can be configured to addresserrors associated with handling and recovering items in the movablecart. For example, the movable cart can be configured to detect anincomplete action by one party, an incomplete transfer of an item, e.g.,a stuck or jammed item, a dropped transfer, e.g., “I passed stencil#1234 to you, don't you have it?,” and a manual intervention oroverride, e.g., “here, let me help you.” In one embodiment, a controllerassociated with the movable cart can be configured to perform staticdischarge control, data recovery and/or security.

In some embodiments, the movable cart can be configured with a higherlevel of capability. In addition to indexing all the equipment to thecorrect height, the movable cart would need to pull in/push out allequipment for stencil printer gantries to attach.

In some embodiments, existing stencil printer gantries, rails and printhead of the stencil printer 10 can be configured to shuttle items in andout.

In some embodiments, the print head 20 of the stencil printer 10 can beconfigured to lift and shuttle a support tooling.

In some embodiments, the movable cart can be configured with a pastecartridge indexer at a top of the movable cart to load/unload pastecartridges.

In some embodiments, the movable cart can be configured to communicationwith the stencil printer 10, the production line and a warehouseassociated with the production line.

In some embodiments, the movable cart can be configured with anelectrical/pneumatic interface.

In some embodiments, the movable cart can be configured to trackconsumables—new and used on the movable cart, e.g., solder pastecartridges, including location, temperature and other data.

In some embodiments, the movable cart can be configured to store andsupply stencils for duration of a production run.

In some embodiments, the movable cart can be configured to verify andensure that the squeegee blades are associated with a stencil to ensurecompatibility of parts during a changeover.

In some embodiments, the squeegee blades can include disposable bladesthat are plastic molded blade.

In some embodiments, the movable cart can be configured to scan allconsumables with a suitable scanning device, such as a barcode reader orRFID reader.

In some embodiments, the movable cart can be configured with an indexingmechanism to properly locate consumables.

In some embodiments, the movable cart can be configured with a bypassswitch to disconnect the movable cart from the stencil printer 10 if themovable cart has an issue.

In some embodiments, the movable cart can be configured to be movedmanually or by an automated guided vehicle (AGV).

In some embodiments, the movable cart can be configured to dock andinterface with the stencil printer 10.

In some embodiments, the movable cart can be configured to servicemultiple stencil printers 10.

In some embodiments, the movable cart can be configured to be dedicatedto one consumable item, e.g., stencils, or multipleconsumable/changeover items.

In some embodiments, the movable cart can be configured to transport andpresent the consumables to be cleaned at a remote station.

In some embodiments, the movable cart can be configured to be refilledat a stockroom associated with a warehouse.

In some embodiments, the movable cart can be configured to be climatecontrolled, either actively or passively.

In some embodiments, the movable cart can be configured be controlled byan application (App) capable for smartphone integration.

As used herein, an “automated” or “fully automated” changeover describesthe replacement or replenishment of an item without human intervention.

As used herein, a “partially automated” changeover describes thereplacement or replenishment of an item with some or limited humanintervention.

As used herein, “transport,” “transporting,” “transfer” or“transferring” describes moving an item from one position to another,either manually or with a machine.

As used herein, “install” or “installing” describes the process ofplacing an item in a position ready for use.

As mentioned above, the movable cart 80 and the robotic arm 140 can beemployed to replace other items within the stencil printer 10. Forexample, the stencil wiper assembly 34 includes consumables, e.g., paperand solvent, which can be automatically replaced by the movable cart 80and the robotic arm 140.

The concepts disclosed herein may be employed in other types ofequipment used to fabricate electronic substrates, including dispensers,pick-and-place machines, reflow ovens, wave soldering machines,selective solder machines, inspection stations, and cleaning stations.For example, the concepts directed to replacing paste cartridges can beemployed in dispensers used to dispense viscous material. In anotherexample, the concepts directed to replacing tooling can be employed indispensers and in pick-and-place machines used to mount electroniccomponents onto electronic substrates. In another example, the conceptsdirected to replacing items can be employed in replacing solder withinwave soldering and selective soldering machines and cleaning productwithin cleaning stations.

Paste Dispensing Transfer System and Method

In one embodiment, the stencil printer includes a paste dispensingtransfer system configured to remove spent or used paste cartridges fromthe print head assembly and install new paste cartridges in the printhead assembly. The paste dispensing transfer system can be configured toinclude a rotary indexing mechanism designed to receive used pastecartridges from the print head assembly of the stencil printer anddeliver new paste cartridges to the print head assembly of the stencilprinter. The rotary indexing mechanism can be located on a frame of thestencil printer. The paste dispensing transfer system further can beconfigured to include a paste cartridge mechanism having an end effectorconfigured to deliver used paste cartridges to the rotary indexingmechanism and to receive new paste cartridges from the rotary indexingmechanism. The paste cartridge mechanism can be located on the printhead assembly of the stencil printer.

In some embodiments, the paste cartridges can be hand fed manually ontothe rotary indexing mechanism of the paste dispensing transfer system ofthe stencil printer. The number of paste cartridges stored in the rotaryindexing mechanism of the paste dispensing transfer system can bedetermined by the logistic needs of the stencil printer and theparticular application. The process of installing the paste cartridge onthe print head assembly includes receiving, seating, sealing andpressurizing the paste cartridge to the print head assembly. The rotaryindexing mechanism cooperates with the paste cartridge mechanism havingthe end effector to achieve this process.

In some embodiments, the paste dispensing transfer system is configuredso that the paste cartridge mechanism interfaces with the rotaryindexing mechanism. The paste cartridge mechanism is configured toinclude a support bracket, an actuator and an end effector configured toreceive, seat, seal and pressurize the paste cartridge to the materialdispenser assembly mounted on the print head assembly. The supportbracket may include a base having a receiving feature designed toreceive a bottom portion of the paste/material cartridge. The receivingfeature may include two spaced-apart prongs that are sized to surround anarrow cylindrical portion of the nozzle of the paste cartridge, withthe narrow cylindrical portion being disposed between two widercylindrical portions to capture the prongs in between. The supportbracket of the paste cartridge mechanism further may include an uprightmember having a sealing portion configured to secure and seal an upperportion of the paste/material cartridge and to deliver pressurized airto the paste cartridge to dispense solder paste or other dispensablematerials without the need for user intervention or interaction.

Referring to the drawings, and more particularly FIG. 14, a pastedispensing transfer system of an embodiment of the present disclosureincludes a rotary indexing mechanism, generally indicated at 200, and apaste cartridge mechanism, generally indicated at 202. As shown, therotary indexing mechanism 200 is secured to a support member 204 of theframe 12 positioned at a front of the stencil printer 10. In otherembodiments, the rotary indexing mechanism 200 can be located at a rearof the stencil printer 10. The paste cartridge mechanism 200 is mountedon a support member 206 the print head assembly 20 and moves with theprint head assembly by the print head assembly gantry 22. As shown inFIG. 14, the print head assembly 20 and the paste cartridge mechanism202 can be moved in the y-axis direction by the print head assemblygantry 22 toward the front of the stencil printer 10 adjacent the rotaryindexing mechanism 200. In this position, the paste cartridge mechanism202 can transfer spent or used paste cartridges, such as paste cartridge110, to the rotary indexing mechanism 200 and receive new pastecartridges from the rotary indexing mechanism.

Referring to FIGS. 15A and 15B, the rotary indexing mechanism 200includes a mounting bracket 210 configured to secure the rotary indexingmechanism to the support member 204 of the frame 12. A motor and bearinghousing 212 is secured to a bottom of the mounting bracket 210 to securea motor and gear box assembly 214, which is provided to drive therotation of a shaft 216 of the rotary indexing mechanism 200. In oneembodiment, the operation of the motor and gear box assembly 214 of therotary indexing mechanism 200 is controlled by the controller 14 of thestencil printer 10.

The rotary indexing mechanism 200 further includes a carousel mount 220,which in the shown embodiment is a circular disk that is mounted on theshaft 216. Thus, the carousel mount 220 is configured to rotate, eitherclockwise or counterclockwise, by operation of the motor and gear boxassembly 214. A paste cartridge tube holder 222 is mounted on a topsurface of the carousel mount 220. In one embodiment, the tube holder222 embodies a half-wall that is configured to provide lateral supportto the paste cartridge 110 to assist in maintaining the paste cartridgein a vertical, upright position. The rotary indexing mechanism 200further includes several dividers, each indicated at 224, which areprovided to separate the paste cartridges 110 supported by the rotaryindexing mechanism from each other. In the shown embodiment, there arethree dividers 224; however, any number of dividers can be provideddepending on the number of paste cartridges 110 to be supported by therotary indexing mechanism 200.

The top surface of the carousel mount 220 of the rotary indexingmechanism 200 is configured to support a nozzle 111 of the pastecartridge 110 so that the paste cartridge is in the upright position.The rotary indexing mechanism 200 can be rotated to present an openreceptacle defined between two adjacent dividers 224 to the pastecartridge mechanism 202 to receive a spent or used paste cartridge 110from the paste cartridge mechanism. In this position, the pastecartridge mechanism 202 can transfer the used paste cartridge 110 to theopen receptacle of the rotary indexing mechanism 200. The rotaryindexing mechanism 200 further can be rotated to present a new pastecartridge 110 for transfer to the paste cartridge mechanism. In thisposition, the paste cartridge mechanism 202 can receive the new pastecartridge 110 and install the new paste cartridge for operation withinthe print head assembly 20.

Referring to FIGS. 16A and 16B, the paste cartridge mechanism 202includes a support bracket 230 mounted on the support member 206 of theprint head assembly 20 and an actuator 232 secured to the supportbracket. In one embodiment, the actuator 232 is a linear actuatorconfigured to move in the z-axis direction, i.e., up and down. Thesupport bracket 230 may include an end effector 234 having a base with areceiving feature designed to receive a bottom portion of the nozzle 111of the paste cartridge 110. The end effector 234 is configured toselectively engage and secure the nozzle 111 of the paste cartridge 110and maintain the paste cartridge in the vertical, upright position. Thearrangement is such that the end effector 234 of the print cartridgemechanism 202 can be manipulated to engage and secure the nozzle 111 ofthe paste cartridge 110 to support the paste cartridge in the vertical,upright position and move the paste cartridge to an operational positionwithin the print head assembly 20.

The actuator 232 of the paste cartridge mechanism 202 is secured to thesupport member 206 of the print head assembly 20 by the support bracket230 and configured to move in the y-axis direction by motion provided bythe print head assembly gantry 22. The support bracket 230 can besecured to the support member 206 of the print head assembly 20 by alinear bearing to enable the movement of the support bracket, actuator232 and end effector 234 in the x-axis direction. In one embodiment,which is best shown in FIG. 14, the support bracket 230 is mounted tothe support member 206 of the print head assembly 20 by two linear rodbearings, each indicated at 236, and driven by a timing belt 238 coupledto a motor. This enables the lateral movement of the end effector 234 toreach the rotary indexing mechanism 200. Other drives may be used, suchas a motor and ball screw assembly to drive the movement of the supportbracket 230 and thus the end effector 234. The print head assembly 20 isconfigured to move laterally along the x-axis direction to depositsolder paste (or another suitable assembly material) at a desiredlocation a width of the stencil 18.

Referring to FIGS. 17A and 17B, the actuator 232 is configured to movethe end effector 234 of the paste cartridge mechanism 202 in an up anddown motion along the z-axis direction. The arrangement is such that theend effector 234 is moved laterally toward the nozzle 111 of the pastecartridge 110 positioned in the rotary indexing machine 200 to securethe nozzle of the paste cartridge. This arrangement is shown in FIG.17A. Once secured by the end effector 234, the actuator 232 moves thepaste cartridge 110 upwardly so that an open end of the paste cartridgeis sealed by a paste cartridge sealing feature 240 of the print headassembly 20. After the paste cartridge 110 is lifted to seal against thesealing feature 240, the paste cartridge can be pressurized whenrequired to dispense solder paste. After being sealed, the pastecartridge 110 can be moved away from the rotary indexing mechanism 200.In one embodiment, the operation of the actuator 232 of the pastecartridge mechanism 202 is controlled by the controller 14 of thestencil printer 10.

Referring to FIG. 18, in one embodiment, the end effector 234 includes areceiving feature 250 may include two spaced-apart prongs that are sizedto surround a narrow cylindrical portion of the nozzle 111 of the pastecartridge 110, with the narrow cylindrical portion being disposedbetween two wider cylindrical portions to capture the prongs in between.The arrangement is such that the prongs of the receive feature 250 arecaptured between the two wider cylindrical portions of the nozzle 111 toenable the end effector 234 to support the paste cartridge 110 in theupright position. Other end effector structures can be used withcomplementary features of the nozzle to secure the nozzle 111 of thepaste cartridge 110 to the end effector.

In some embodiments, the rotary indexing mechanism 200 and the pastecartridge mechanism 202 can be configured to accept different sizedpaste cartridges or paste jars.

In some embodiments, the paste cartridge 110 is configured to contain anassembly material, including but not limited to solder paste, conductiveink, or encapsulation material.

In some embodiments, each paste cartridge 110 includes a one-dimensionalbarcode label that wraps all the way around the paste cartridge, therebypermitting the reading of the barcode from any orientation relative tothe tube.

Having thus described several aspects of at least one embodiment, it isto be appreciated various alterations, modifications, and improvementswill readily occur to those skilled in the art. Such alterations,modifications, and improvements are intended to be part of thisdisclosure, and are intended to be within the scope of the disclosure.Accordingly, the foregoing description and drawings are by way ofexample only.

What is claimed is:
 1. A stencil printer for printing an assemblymaterial on an electronic substrate, the stencil printer comprising: aframe; a stencil coupled to the frame, the stencil having aperturesformed therein; a support assembly coupled to the frame, the supportassembly including tooling configured to support the electronicsubstrate in a print position beneath the stencil; a print head assemblycoupled to the frame in such a manner that the print head assembly isconfigured to traverse the stencil during print strokes, the print headassembly including a squeegee blade assembly and at least one pastecartridge to deposit assembly material on the stencil; and a pastedispensing transfer system including a paste cartridge mechanism coupledto the print head assembly, and a rotary indexing mechanism coupled tothe frame, wherein the paste dispensing transfer system is configured totransfer a used paste cartridge from the print head assembly to therotary indexing mechanism supported by the frame and to transfer a newpaste cartridge from the rotary indexing mechanism to the print headassembly.
 2. The stencil printer of claim 1, wherein the rotary indexingmechanism includes a carousel mount configured to rotate, a pastecartridge tube holder mounted on a top surface of the carousel mount,and several dividers provided to separate the paste cartridges supportedby the rotary indexing mechanism from each other.
 3. The stencil printerof claim 2, wherein the tube holder includes a half-wall that isconfigured to provide lateral support to a paste cartridge to maintainthe paste cartridge in a vertical, upright position.
 4. The stencilprinter of claim 2, wherein the rotary indexing mechanism is configuredto be rotated to present an open receptacle defined between two adjacentdividers to receive the used paste cartridge and to be rotated topresent a new paste cartridge to transfer to print head assembly.
 5. Thestencil printer of claim 2, wherein the rotary indexing mechanismfurther includes a mounting bracket configured to secure the rotaryindexing mechanism to a support member of the frame.
 6. The stencilprinter of claim 5, wherein the rotary indexing mechanism furtherincludes a motor and bearing housing secured to a bottom of the mountingbracket to secure a motor and gear box assembly, and a shaft coupled tothe motor bearing housing and the carousel mount to drive the rotationof the carousel mount.
 7. The stencil printer of claim 2, wherein thepaste cartridge mechanism includes a support bracket mounted on asupport member of the print head assembly and an actuator secured to thesupport bracket to move the support bracket in a z-axis direction. 8.The stencil printer of claim 7, wherein the support bracket includes anend effector having a base with a receiving feature designed to receivea bottom portion of the nozzle of the paste cartridge, the end effectorbeing configured to selectively engage and secure the nozzle of thepaste cartridge and maintain the paste cartridge in the vertical,upright position.
 9. The stencil printer of claim 8, wherein the supportbracket is secured to the support member of the print head assembly byat least one linear bearing to enable the movement of the supportbracket, actuator and end effector in the x-axis direction and is drivenby a timing belt.
 10. The stencil printer of claim 8, wherein theactuator is configured to move the paste cartridge upwardly so that anopen end of the paste cartridge is sealed by a cartridge sealing featureof the print head assembly.
 11. The stencil printer of claim 8, whereinthe end effector includes a receiving feature having two spaced-apartprongs that are sized to surround a narrow cylindrical portion of thenozzle of the paste cartridge to enable the end effector to support thepaste cartridge in the upright, vertical position.
 12. A method of fullyautomating a changeover and/or a replacement process within a stencilprinter, the method comprising: identifying a used paste cartridgescheduled for replacement within the stencil printer; transferring theused paste cartridge from a print head assembly with a paste cartridgemechanism to a rotary indexing mechanism; transferring a new pastecartridge from the rotary indexing mechanism to the paste cartridgemechanism; and installing the new paste cartridge within the print headassembly.
 13. The method of claim 12, wherein transferring the usedpaste cartridge includes presenting an open receptacle of the rotaryindexing mechanism and moving the used paste cartridge to the openreceptacle.
 14. The method of claim 12, wherein transferring a new pastecartridge includes presenting the new paste cartridge to the pastecartridge mechanism and moving the new paste cartridge to the pastecartridge mechanism.
 15. The method of claim 12, wherein installing thenew paste cartridge includes moving the new paste cartridge in a z-axisdirection to seal an open end of the paste cartridge.
 16. A pastedispensing transfer system of a stencil printer configured to print anassembly material on an electronic substrate, transfer systemcomprising: a paste cartridge mechanism coupled to a print head assemblyof the stencil printer; and a rotary indexing mechanism coupled to aframe of the stencil printer, wherein the paste dispensing transfersystem is configured to transfer a used paste cartridge from the printhead assembly to the rotary indexing mechanism supported by the frameand to transfer a new paste cartridge from the rotary indexing mechanismto the print head assembly.
 17. The transfer assembly of claim 16,wherein the rotary indexing mechanism includes a carousel mountconfigured to rotate, a paste cartridge tube holder mounted on a topsurface of the carousel mount, and several dividers provided to separatethe paste cartridges supported by the rotary indexing mechanism fromeach other.
 18. The transfer assembly of claim 17, wherein the tubeholder includes a half-wall that is configured to provide lateralsupport to a paste cartridge to maintain the paste cartridge in avertical, upright position.
 19. The transfer assembly of claim 17,wherein the rotary indexing mechanism is configured to be rotated topresent an open receptacle defined between two adjacent dividers toreceive the used paste cartridge and to be rotated to present a newpaste cartridge to transfer to print head assembly.
 20. The transferassembly of claim 17, wherein the rotary indexing mechanism furtherincludes a mounting bracket configured to secure the rotary indexingmechanism to a support member of the frame.
 21. The transfer assembly ofclaim 20, wherein the rotary indexing mechanism further includes a motorand bearing housing secured to a bottom of the mounting bracket tosecure a motor and gear box assembly, and a shaft coupled to the motorbearing housing and the carousel mount to drive the rotation of thecarousel mount.
 22. The transfer assembly of claim 17, wherein the pastecartridge mechanism includes a support bracket mounted on a supportmember of the print head assembly and an actuator secured to the supportbracket to move the support bracket in a z-axis direction.
 23. Thetransfer assembly of claim 22, wherein the support bracket includes anend effector having a base with a receiving feature designed to receivea bottom portion of the nozzle of the paste cartridge, the end effectorbeing configured to selectively engage and secure the nozzle of thepaste cartridge and maintain the paste cartridge in the vertical,upright position.
 24. The transfer assembly of claim 23, wherein thesupport bracket is secured to the support member of the print headassembly by at least one linear bearing to enable the movement of thesupport bracket, actuator and end effector in the x-axis direction andis driven by a timing belt.
 25. The transfer assembly of claim 23,wherein the actuator is configured to move the paste cartridge upwardlyso that an open end of the paste cartridge is sealed by a cartridgesealing feature of the print head assembly.
 26. The transfer assembly ofclaim 23, wherein the end effector includes a receiving feature havingtwo spaced-apart prongs that are sized to surround a narrow cylindricalportion of the nozzle of the paste cartridge to enable the end effectorto support the paste cartridge in the upright, vertical position.